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    <h2><b>Play: <font color="green">Upfield Defense</font></b></h2>    
    <h3><b><u>Description:</u></b></h3>
Upfield defense is similar to loose defense, but the special op plays 
upfield. The basic idea is that when on offense upfield it is easy to 
lose possession of the ball. We don't want the special op to be running 
back and forward from back field to upfield, and we would rather have him 
play behind the aggressor and block the ball from getting knocked back 
toward our goal. 

    <h3><b><u>Illustration:</u></b></h3>
    <img src="images/upfieldDefensePlay.jpg">

    <a name="positionsPresent"></a>
    <h3><b><u>Positions Present:</u></b></h3>
    <ul>
     <li>Blocker
     <li>Defender
     <li>Aggressor
     <li>Special Op Aggressor
     <li>Creator
    </ul>

    <a name="positionStrategies"></a>
    <h3><b><u>Position Strategies:</u></b></h3>

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      <h2><b><font color="green">Blocker + Defender</font></b></h2>
      These positions act the same was as in <a 
href="play_looseDefense.html">loose defense</a>.<br><br>Blocker: <b>TandemBlockerSkill</b> <br>Defender: <b>TandemDefenderSkill</b>
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       <h2><b><font color="green">Special Op 
Aggressor:</font></b></h2>
       Plays slightly offset towards the middle of the field behind the aggressor. Offset should be great enough that knocking 
the ball past the aggressor AND the special op should be difficult. If an opponent is threatening from behind, but is not too close and not 
too far away, BehindScreenOffenseSkill will screen this robot. 
<br><br>Special Op Aggressor: <b>BehindScreenOffenseSkill</b> <br>
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       <h2><b><font color="green">Aggressor:</font></b></h2>
       <ul>
        <li>Ball Free->approach ball
        <li>Opponent has ball -> strip ball to outer side (closest 
            sideline)
        <li>Once we have the ball play will transfer to single assist 
        offense.
       </ul>Aggressor: <b>AcquirePosessionSkill</b> <br>
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       <h2><b><font color="green">Creator:</font></b></h2>
        Get open for a forward pass.<br><br>Creator: <b>CreatorLookForwardPassSkill</b> <br>
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    <h3><b><u>Transitions:</u></b></h3>
 
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      <td width="100"><ul><li><a href="play_singleAssistOffense.html">Single Assist Offense</a></ul></td>
      <td>We have possession of the ball.</td>
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      <td width="100"><ul><li><a href="play_looseDefense.html">Loose Defense</a></ul></td>
      <td>Ball is behind the half line.</td>
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   <h3><b><u>Position Switching:</u></b></h3>
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      <td width="100"><ul><li>Aggressor, Creator, SpecialOpAggressor</ul></td>
      <td><ul>
		    <li>If special op farther upfield than creator, switch
			<li>If creator or special op closer to ball than aggressor, switch with aggressor.
          </ul>
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